edge_xy_prior.cpp

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "edge_xy_prior.h"
 
#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_primitives.h"
#include "g2o/stuff/opengl_wrapper.h"
#endif
 
namespace g2o {
 
EdgeXYPrior::EdgeXYPrior() : BaseUnaryEdge<2, Vector2, VertexPointXY>() {
  _information.setIdentity();
  _error.setZero();
}
 
bool EdgeXYPrior::read(std::istream& is) {
  internal::readVector(is, _measurement);
  readInformationMatrix(is);
  return true;
}
 
bool EdgeXYPrior::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}
 
#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
void EdgeXYPrior::linearizeOplus() { _jacobianOplusXi = Matrix2::Identity(); }
#endif
 
}  // namespace g2o